WO2022045740A1 - Floating body which attenuates momentum using magnetic force - Google Patents

Floating body which attenuates momentum using magnetic force Download PDF

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Publication number
WO2022045740A1
WO2022045740A1 PCT/KR2021/011304 KR2021011304W WO2022045740A1 WO 2022045740 A1 WO2022045740 A1 WO 2022045740A1 KR 2021011304 W KR2021011304 W KR 2021011304W WO 2022045740 A1 WO2022045740 A1 WO 2022045740A1
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WIPO (PCT)
Prior art keywords
floating body
momentum
magnetic force
elastomer
present
Prior art date
Application number
PCT/KR2021/011304
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French (fr)
Korean (ko)
Inventor
이강수
박병재
김병완
기민석
김현석
김현성
Original Assignee
한국해양과학기술원
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Publication of WO2022045740A1 publication Critical patent/WO2022045740A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/005—Equipment to decrease ship's vibrations produced externally to the ship, e.g. wave-induced vibrations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B63B17/0081—Vibration isolation or damping elements or arrangements, e.g. elastic support of deck-houses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
    • F16F13/04—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper
    • F16F13/26—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper characterised by adjusting or regulating devices responsive to exterior conditions
    • F16F13/30—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper characterised by adjusting or regulating devices responsive to exterior conditions comprising means for varying fluid viscosity, e.g. of magnetic or electrorheological fluids
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
    • F16F13/04—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper
    • F16F13/26—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper characterised by adjusting or regulating devices responsive to exterior conditions
    • F16F13/30—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper characterised by adjusting or regulating devices responsive to exterior conditions comprising means for varying fluid viscosity, e.g. of magnetic or electrorheological fluids
    • F16F13/305—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper characterised by adjusting or regulating devices responsive to exterior conditions comprising means for varying fluid viscosity, e.g. of magnetic or electrorheological fluids magnetorheological
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/005—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion using electro- or magnetostrictive actuation means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2224/00—Materials; Material properties
    • F16F2224/04—Fluids
    • F16F2224/045—Fluids magnetorheological

Definitions

  • the present invention relates to a floating body that attenuates an applied momentum, and more particularly, to a floating body that attenuates the momentum by using a magnetic force having a function of damping the momentum applied to a part of the floating body.
  • a floating body is a means of providing a space of a fixed area while floating on the water.
  • a floating body is an offshore playground, providing a place for leisure such as fishing, a transport means for transporting people or things by assisting a general ship, and military training It functions as a temporary bridge.
  • floating bodies frequently used in the sea or lakes are representative piers and barges.
  • Floating pier is a marine berthing facility that connects a footbridge installed at the pier and a barge. It not only allows safe anchoring of various ships, but also allows people disembarking from ships to use the floating pier to safely anchor various ships even when moving up and down due to sea level height and left and right movements due to wave height. It is used as a facility for safe movement to land or for safe embarkation on a ship using a floating pier.
  • the floating bridge is also widely used as a marine workshop and water leisure facility.
  • a barge refers to a cargo carrier used in canals, rivers, and ports. Most of them are slow moving or have no own power.
  • a floating body is a concept that includes a floating pier and a barge. When a floating body is used in connection with the land, it becomes a floating pier, and when it is used without being connected to the land, it becomes a barge.
  • the conventional floating body is usually loaded with cargo in the center of the upper surface of the deck.
  • the load is intensively applied to the center of the deck, the central part of the floating body is bent, resulting in structural deformation of the floating body or damage to the floating body. there is a problem.
  • the present invention has been devised to solve the above problems, and the object of the present invention is to provide a floating body that uses magnetic force to attenuate momentum in order to attenuate the impact of waves or currents applied to the floating body.
  • the present invention was created to improve the problems of the prior art as described above, and is a floating body that is moored on the water to install a water facility or provides a space for water activities. ; a momentum absorbing member provided on a portion of the floating body to damp the momentum acting on the floating body by using magnetic force; and a mooring line installed on a part of the floating body to moor the floating body on the water and fix it.
  • the momentum absorbing member may include: MR Elastomer installed on a portion of the floating body and flowing while being controlled by magnetic force to damp vibration or impact applied to the floating body; and an MR elastomer actuator connected to the MR elastomer and provided with an electromagnet that provides a magnetic force to the MR elastomer to control the operation of the MR elastomer.
  • the momentum absorbing member may be installed in a portion of the lower end of the floating body.
  • the electromagnet may be magnetized or the magnetic pole may be adjusted under the control of the controller.
  • FIG. 1 is a plan conceptual view of a floating body that attenuates momentum by using magnetic force according to an embodiment of the present invention.
  • FIG. 2 is a cross-sectional conceptual view of a floating body that attenuates momentum by using magnetic force according to an embodiment of the present invention.
  • FIG. 3 is a conceptual diagram of MRE of a floating body that attenuates momentum using magnetic force according to an embodiment of the present invention.
  • first and second are for distinguishing one component from another, and the scope of rights should not be limited by these terms.
  • a first component may be termed a second component, and similarly, a second component may also be termed a first component.
  • a component When a component is referred to as being “connected to” another component, it may be directly connected to the other component, but it should be understood that other components may exist in between.
  • a certain element when it is mentioned that a certain element is "directly connected” to another element, it should be understood that the other element does not exist in the middle.
  • other expressions describing the relationship between elements that is, "between” and “between” or “neighboring to” and “directly adjacent to”, etc., should be interpreted similarly.
  • FIG. 1 is a conceptual plan view of a floating body that attenuates momentum using magnetic force according to an embodiment of the present invention
  • FIG. 2 is a cross-sectional conceptual view of a floating body that attenuates momentum using magnetic force according to an embodiment of the present invention
  • 3 is a conceptual diagram of an MRE of a floating body that attenuates momentum using magnetic force according to an embodiment of the present invention.
  • the present invention provides a floating body 100, a momentum absorbing member 200 and a mooring ship. (300) may be included.
  • the floating body 100 may float on water by using buoyancy.
  • the momentum absorbing member 200 may be provided on a portion of the floating body 100 to damp the momentum acting on the floating body 100 by using magnetic force.
  • the momentum absorbing member is installed in each of the lower portions of the four corners of the body of the floating body forming a square shape and softened or hardened using magnetic force to attenuate the momentum caused by waves or currents applied to the body of the floating body.
  • the momentum absorbing member 200 may include an MR elastomer 210 and an MR elastomer driver 220 .
  • the MR Elastomer 210 may be installed on a part of the floating body 100 and may flow while being controlled by magnetic force to damp vibrations or shocks applied to the floating body 100 .
  • damping is a phenomenon in which unnecessary vibration is absorbed by the damper in the transducer, and by reducing the amplitude of successive cycles electrically or mechanically to limit the continuation of the signal from the transducer receiving the pulse pressure, the present invention
  • the momentum absorbing member 200 is stiffened and hardened using magnetic force to damp the impact amount of a certain portion.
  • the MR Elastomer (MRE, Magneto-Rheological Elastomer) 210 of the present invention can be viewed as a material in which a magnetic fluid and an elastomer are mixed, where magnetic particles are dispersed in a solvent such as oil. It is a kind of suspension liquid, which acts as a liquid when there is no external magnetic field, and when an external magnetic field is applied, magnetic particles are arranged in a line and have the properties of a solid. From the point of view of viscosity, the viscosity tends to increase as the magnetic field becomes stronger, and from the point of view of yield strength, the yield strength, which was only 0 in the absence of an external magnetic field, occurs as an external magnetic field is applied.
  • An elastomer is a high molecular compound having the property of being stretched several times when pulled by applying an external force, and returning to its original length when the external force is removed.
  • a typical example is vulcanized rubber called elastic rubber.
  • elastic fibers spandex
  • a typical example of an elastomer is vulcanized rubber called elastic rubber.
  • the MR elastomer driver 220 is connected to the MR elastomer 210 and includes an electromagnet that provides a magnetic force to the MR elastomer 210 to control the operation of the MR elastomer 210 .
  • the electromagnet of the MR Elastomer driver 220 is a magnet that is magnetized when current flows, and returns to an unmagnetized original state when the current is cut off.
  • a permanent magnet that always maintains magnetism regardless of the supply of current distinguished from magnets.
  • a magnetic field in the form of concentric circles is formed around the conductor. Using this principle, a very strong magnetic field that cannot be obtained with a permanent magnet can be obtained.
  • the iron core of the electromagnet is magnetized to a certain extent, the magnetization does not proceed any more even if the current is increased further. This is called self-saturation.
  • Electromagnets can change the strength of the magnetic field relatively easily by artificially adjusting the current. Therefore, it is widely used from relays of communicators to electromagnetic cranes that lift heavy materials over 1 ton (ton). That is, the MR Elastomer actuator 220 corresponds to the place where the shock or vibration is applied in order to effectively prevent the shock or vibration applied to the floating body 100 and the noise generated thereby, the strength or magnitude of the magnetic force. By controlling the flow of the MR Elastomer (210) while controlling, it is possible to respond more efficiently and effectively.
  • the momentum absorbing member 200 is manufactured to be detachable from the floating body 100, and due to repeated use, the fluidity of the MR Elastomer 210 or the magnetic force of the electromagnet provided in the MR Elastomer driver 220 decreases, or power to the electromagnet It is possible to replace and use batteries that provide.
  • the momentum absorbing member 200 is detachably manufactured on the floating body 100, and the material of the momentum absorbing member 200 is composed of a synthetic rubber such as urethane or a spring included therein. It may be used in combination with the floating body 100 .
  • the electromagnet may be magnetized or the magnetic pole may be adjusted under the control of a controller (not shown).
  • the mooring line 300 may be installed on a part of the floating body 100 to moor the floating body 100 on the water to be fixed.
  • the controller (not shown) is equipped with a wireless communication module and is interlocked with an external mobile terminal and any one of a Wi-Fi communication module, a Bluetooth communication module, and a Zigbee communication module to control the operation from the outside or to check the control situation in real time.
  • the momentum absorbing member 200 provided in a part of the floating body 100 .
  • a momentum absorbing member provided in a part of the floating body is used to attenuate the amount of impact caused by waves or currents applied to the floating body, and the momentum absorbing member using MRE to control the sclerosis of the momentum absorbing material by magnetic force. While using the damping action, it is possible to damp the momentum acting on the floating body body.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

The present invention relates to a floating body moored on the water to allow installation of a floating facility or provide a space for activities on the water, the floating body comprising: a main floating body which floats on the water using buoyancy; momentum absorbing members which are provided on parts of the main floating body to dampen, using magnetic force, momentum acting upon the main floating body; and mooring cables which are installed on parts of the main floating body to moor and fixate the main floating body on the water.

Description

자력을 이용하여 운동량을 감쇠하는 부유체A floating body that uses magnetism to dampen momentum
본 발명은 가해지는 운동량을 감쇠하는 부유체에 관한 것으로, 보다 상세하게는 부유체의 일부분에 가해지는 운동량을 감쇠시키는 기능이 구비된 자력을 이용하여 운동량을 감쇠하는 부유체에 관한 것이다.The present invention relates to a floating body that attenuates an applied momentum, and more particularly, to a floating body that attenuates the momentum by using a magnetic force having a function of damping the momentum applied to a part of the floating body.
수상 부유체는 수상에 부유하면서 정해진 면적의 공간을 제공하는 수단으로, 수상 부유체는 해상놀이터, 낚시와 같은 레저를 위한 장소 제공, 일반 선박을 보조하여 사람이나 사물을 운반하는 이송수단, 군사 훈련 가설 교량 등의 역할을 수행한다. 특히, 해상이나 호수에서 많이 사용하는 부유체는 부잔교와 바지선이 대표적이다.A floating body is a means of providing a space of a fixed area while floating on the water. A floating body is an offshore playground, providing a place for leisure such as fishing, a transport means for transporting people or things by assisting a general ship, and military training It functions as a temporary bridge. In particular, floating bodies frequently used in the sea or lakes are representative piers and barges.
부잔교는 부두에 설치한 도교와 바지선을 연결한 해상 접안 시설로서 해수면 높낮이에 의한 상, 하 이동과 파고에 의한 좌, 우 움직임에도 각종 선박의 안전한 정박은 물론 선박에서 하선한 사람들이 부잔교를 이용하여 육지로의 안전한 이동 또는 육지에서 부잔교를 이용하여 선박으로의 안전한 승선을 위한 시설로 이용된다. Floating pier is a marine berthing facility that connects a footbridge installed at the pier and a barge. It not only allows safe anchoring of various ships, but also allows people disembarking from ships to use the floating pier to safely anchor various ships even when moving up and down due to sea level height and left and right movements due to wave height. It is used as a facility for safe movement to land or for safe embarkation on a ship using a floating pier.
부잔교는 해상 작업장 및 수상레저용 시설로도 많이 사용되고 있다.The floating bridge is also widely used as a marine workshop and water leisure facility.
바지선은 운하, 하천, 항내에서 사용하는 화물 운반선을 말하는데, 대부분 이동 속도가 느리거나 자체 동력이 없는 경우가 많다.A barge refers to a cargo carrier used in canals, rivers, and ports. Most of them are slow moving or have no own power.
부유체는 부잔교와 바지선을 포함하는 개념이며, 부유체가 육지와 연결되어 사용되는 경우 부잔교가 되고, 육지와 연결되지 않고 사용되는 경우에는 바지선이 된다.A floating body is a concept that includes a floating pier and a barge. When a floating body is used in connection with the land, it becomes a floating pier, and when it is used without being connected to the land, it becomes a barge.
종래의 부유체는 통상 갑판 상면의 중앙에 화물이 적재되는데, 이 경우 갑판 중앙부에 집중적으로 하중이 가해지기 때문에 부유체의 중앙부가 휘는 현상이 발생되어 부유체의 구조적 변형이 발생되거나 부유체가 파손되는 문제가 있다.The conventional floating body is usually loaded with cargo in the center of the upper surface of the deck. In this case, since the load is intensively applied to the center of the deck, the central part of the floating body is bent, resulting in structural deformation of the floating body or damage to the floating body. there is a problem.
따라서, 본 발명은 상기와 같은 문제점을 해결하기 위하여 안출된 것으로서, 본 발명의 해결하고자 하는 과제는 부유체에 가해지는 파도나 해류의 충격량을 감쇠하기 위해 자력을 이용하여 운동량을 감쇠하는 부유체를 제공하는 것이다.Therefore, the present invention has been devised to solve the above problems, and the object of the present invention is to provide a floating body that uses magnetic force to attenuate momentum in order to attenuate the impact of waves or currents applied to the floating body. will provide
다만, 본 발명에서 이루고자 하는 기술적 과제들은 이상에서 언급한 기술적 과제들로 제한되지 않으며, 언급하지 않은 또 다른 기술적 과제들은 아래의 기재로부터 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 명확하게 이해될 수 있을 것이다.However, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned are clearly to those of ordinary skill in the art to which the present invention belongs from the description below. can be understood
본 발명은 상기와 같은 종래기술의 문제점을 개선하기 위하여 창출된 것으로, 수상에 계류되어 수상시설물이 설치되거나 수상활동을 위한 공간을 제공하는 부유체로서, 부력을 이용하여 수상에서 부유하는 부유체 본체; 상기 부유체 본체의 일부분에 구비되어 상기 부유체 본체에 작용하는 운동량을 자력을 이용하여 댐핑시키는 운동량흡수부재; 및 상기 부유체 본체의 일부분에 설치되어 상기 부유체 본체를 수상에서 계류하여 고정시키는 계류선;을 포함할 수 있다.The present invention was created to improve the problems of the prior art as described above, and is a floating body that is moored on the water to install a water facility or provides a space for water activities. ; a momentum absorbing member provided on a portion of the floating body to damp the momentum acting on the floating body by using magnetic force; and a mooring line installed on a part of the floating body to moor the floating body on the water and fix it.
또한, 상기 운동량흡수부재는, 상기 부유체 본체의 일부분에 설치되어 자력에 의해 제어되면서 유동하여 상기 부유체 본체에 가해지는 진동이나 충격을 댐핑시키는 MR Elastomer; 및 상기 MR Elastomer에 연결되며, 상기 MR Elastomer에 자력을 제공하는 전자석을 구비하여 상기 MR Elastomer의 작동을 제어하는 MR Elastomer 구동기;를 포함할 수 있다.In addition, the momentum absorbing member may include: MR Elastomer installed on a portion of the floating body and flowing while being controlled by magnetic force to damp vibration or impact applied to the floating body; and an MR elastomer actuator connected to the MR elastomer and provided with an electromagnet that provides a magnetic force to the MR elastomer to control the operation of the MR elastomer.
또한, 상기 운동량흡수부재는 상기 부유체 본체의 하단의 일부분에 설치될 수 있다.In addition, the momentum absorbing member may be installed in a portion of the lower end of the floating body.
또한, 상기 전자석은 컨트롤러의 제어에 의해 자성이 부여되거나 자극이 조정될 수 있다.In addition, the electromagnet may be magnetized or the magnetic pole may be adjusted under the control of the controller.
본 발명의 일실시예에 따르면, 부유체 본체의 일부분에 구비되는 운동량흡수부재를 이용하여 부유체에 가해지는 파도나 해류에 의한 충격량을 감쇠시킬 수 있다.According to an embodiment of the present invention, it is possible to attenuate the amount of impact caused by waves or currents applied to the floating body by using the momentum absorbing member provided in a part of the floating body.
따라서, MRE를 이용한 운동량흡수부재를 통해서 자력으로 운동량흡수재의 경화성을 제어하면서 댐핑 작용을 이용하여 부유체 본체에 작용하는 운동량을 감쇠시킬 수 있다.Accordingly, it is possible to damp the momentum acting on the floating body by using the damping action while controlling the curability of the momentum absorber by magnetic force through the momentum absorbing member using the MRE.
다만, 본 발명에서 얻을 수 있는 효과는 이상에서 언급한 효과들로 제한되지 않으며, 언급하지 않은 또 다른 효과들은 아래의 기재로부터 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 명확하게 이해될 수 있을 것이다.However, the effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the following description. will be able
본 명세서에서 첨부되는 다음의 도면들은 본 발명의 바람직한 실시예를 예시하는 것이며, 후술하는 발명의 상세한 설명과 함께 본 발명의 기술사상을 더욱 이해시키는 역할을 하는 것이므로, 본 발명은 그러한 도면에 기재된 사항에만 한정되어서 해석되어서는 아니된다.The following drawings attached to this specification illustrate preferred embodiments of the present invention, and serve to further understand the technical spirit of the present invention together with the detailed description of the present invention to be described later, so the present invention is described in such drawings It should not be construed as being limited only to
도 1은 본 발명의 일실시예에 따른 자력을 이용하여 운동량을 감쇠하는 부유체의 평면 개념도이다.1 is a plan conceptual view of a floating body that attenuates momentum by using magnetic force according to an embodiment of the present invention.
도 2는 본 발명의 일실시예에 따른 자력을 이용하여 운동량을 감쇠하는 부유체의 단면 개념도이다.2 is a cross-sectional conceptual view of a floating body that attenuates momentum by using magnetic force according to an embodiment of the present invention.
도 3은 본 발명의 일실시예에 따른 자력을 이용하여 운동량을 감쇠하는 부유체의 MRE 개념도이다.3 is a conceptual diagram of MRE of a floating body that attenuates momentum using magnetic force according to an embodiment of the present invention.
아래에서는 첨부한 도면을 참고로 하여 본 발명의 실시 예에 대하여 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자가 용이하게 실시할 수 있도록 상세히 설명한다. 그러나 본 발명에 관한 설명은 구조적 내지 기능적 설명을 위한 실시 예에 불과하므로, 본 발명의 권리범위는 본문에 설명된 실시 예에 의하여 제한되는 것으로 해석되어서는 아니 된다. 즉, 실시 예는 다양한 변경이 가능하고 여러 가지 형태를 가질 수 있으므로 본 발명의 권리범위는 기술적 사상을 실현할 수 있는 균등물들을 포함하는 것으로 이해되어야 한다. 또한, 본 발명에서 제시된 목적 또는 효과는 특정 실시예가 이를 전부 포함하여야 한다거나 그러한 효과만을 포함하여야 한다는 의미는 아니므로, 본 발명의 권리범위는 이에 의하여 제한되는 것으로 이해되어서는 아니 될 것이다.Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art can easily carry out the present invention. However, since the description of the present invention is merely an embodiment for structural or functional description, the scope of the present invention should not be construed as being limited by the embodiment described in the text. That is, since the embodiment is capable of various changes and may have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing the technical idea. In addition, since the object or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such effects, it should not be understood that the scope of the present invention is limited thereby.
본 발명에서 서술되는 용어의 의미는 다음과 같이 이해되어야 할 것이다.The meaning of the terms described in the present invention should be understood as follows.
"제1", "제2" 등의 용어는 하나의 구성요소를 다른 구성요소로부터 구별하기 위한 것으로, 이들 용어들에 의해 권리범위가 한정되어서는 아니 된다. 예를 들어, 제1 구성요소는 제2 구성요소로 명명될 수 있고, 유사하게 제2 구성요소도 제1 구성요소로 명명될 수 있다. 어떤 구성요소가 다른 구성요소에 "연결되어" 있다고 언급된 때에는, 그 다른 구성요소에 직접적으로 연결될 수도 있지만, 중간에 다른 구성요소가 존재할 수도 있다고 이해되어야 할 것이다. 반면에, 어떤 구성요소가 다른 구성요소에 "직접 연결되어" 있다고 언급된 때에는 중간에 다른 구성요소가 존재하지 않는 것으로 이해되어야 할 것이다. 한편, 구성요소들 간의 관계를 설명하는 다른 표현들, 즉 "~사이에"와 "바로 ~사이에" 또는 "~에 이웃하는"과 "~에 직접 이웃하는" 등도 마찬가지로 해석되어야 한다.Terms such as “first” and “second” are for distinguishing one component from another, and the scope of rights should not be limited by these terms. For example, a first component may be termed a second component, and similarly, a second component may also be termed a first component. When a component is referred to as being “connected to” another component, it may be directly connected to the other component, but it should be understood that other components may exist in between. On the other hand, when it is mentioned that a certain element is "directly connected" to another element, it should be understood that the other element does not exist in the middle. Meanwhile, other expressions describing the relationship between elements, that is, "between" and "between" or "neighboring to" and "directly adjacent to", etc., should be interpreted similarly.
단수의 표현은 문맥상 명백하게 다르게 뜻하지 않는 한 복수의 표현을 포함하는 것으로 이해되어야 하고, "포함하다" 또는 "가지다" 등의 용어는 설시된 특징, 숫자, 단계, 동작, 구성요소, 부분품 또는 이들을 조합한 것이 존재함을 지정하려는 것이며, 하나 또는 그 이상의 다른 특징이나 숫자, 단계, 동작, 구성요소, 부분품 또는 이들을 조합한 것들의 존재 또는 부가 가능성을 미리 배제하지 않는 것으로 이해되어야 한다.The singular expression is to be understood to include the plural expression unless the context clearly dictates otherwise, and terms such as "comprise" or "have" are not intended to refer to the specified feature, number, step, action, component, part or any of them. It is intended to indicate that a combination exists, and it should be understood that it does not preclude the possibility of the existence or addition of one or more other features or numbers, steps, operations, components, parts, or combinations thereof.
여기서 사용되는 모든 용어들은 다르게 정의되지 않는 한, 본 발명이 속하는 분야에서 통상의 지식을 가진 자에 의해 일반적으로 이해되는 것과 동일한 의미를 가진다. 일반적으로 사용되는 사전에 정의되어 있는 용어들은 관련 기술의 문맥상 가지는 의미와 일치하는 것으로 해석되어야 하며, 본 발명에서 명백하게 정의하지 않는 한 이상적이거나 과도하게 형식적인 의미를 지니는 것으로 해석될 수 없다.All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless otherwise defined. Terms defined in the dictionary should be interpreted as being consistent with the meaning of the context of the related art, and cannot be interpreted as having an ideal or excessively formal meaning unless explicitly defined in the present invention.
도 1은 본 발명의 일실시예에 따른 자력을 이용하여 운동량을 감쇠하는 부유체의 평면 개념도이고, 도 2는 본 발명의 일실시예에 따른 자력을 이용하여 운동량을 감쇠하는 부유체의 단면 개념도이며, 도 3은 본 발명의 일실시예에 따른 자력을 이용하여 운동량을 감쇠하는 부유체의 MRE 개념도이다.1 is a conceptual plan view of a floating body that attenuates momentum using magnetic force according to an embodiment of the present invention, and FIG. 2 is a cross-sectional conceptual view of a floating body that attenuates momentum using magnetic force according to an embodiment of the present invention. 3 is a conceptual diagram of an MRE of a floating body that attenuates momentum using magnetic force according to an embodiment of the present invention.
도 1 내지 도 3에 도시된 바와 같이, 수상에 계류되어 수상시설물이 설치되거나 수상활동을 위한 공간을 제공하는 부유체로서, 본 발명은 부유체 본체(100), 운동량흡수부재(200) 및 계류선(300)을 포함할 수 있다.As shown in FIGS. 1 to 3, as a floating body moored on the water to install a water facility or provide a space for water activities, the present invention provides a floating body 100, a momentum absorbing member 200 and a mooring ship. (300) may be included.
부유체 본체(100)는 부력을 이용하여 수상에서 부유할 수 있다.The floating body 100 may float on water by using buoyancy.
운동량흡수부재(200)는 부유체 본체(100)의 일부분에 구비되어 부유체 본체(100)에 작용하는 운동량을 자력을 이용하여 댐핑시킬 수 있다. 구체적으로, 운동량흡수부재는 사각 형상을 이루는 부유체 본체의 네 모서리의 하부 일부분에 각각 설치되어 자력을 이용하여 연화되거나 경화되면서 부유체 본체에 가해지는 파도나 해류에 의한 운동량을 감쇠할 수 있다.The momentum absorbing member 200 may be provided on a portion of the floating body 100 to damp the momentum acting on the floating body 100 by using magnetic force. Specifically, the momentum absorbing member is installed in each of the lower portions of the four corners of the body of the floating body forming a square shape and softened or hardened using magnetic force to attenuate the momentum caused by waves or currents applied to the body of the floating body.
운동량흡수부재(200)는 MR Elastomer(210) 및 MR Elastomer 구동기(220)를 포함할 수 있다.The momentum absorbing member 200 may include an MR elastomer 210 and an MR elastomer driver 220 .
MR Elastomer(210)는 부유체 본체(100)의 일부분에 설치되어 자력에 의해 제어되면서 유동하여 부유체 본체(100)에 가해지는 진동이나 충격을 댐핑시킬 수 있다.The MR Elastomer 210 may be installed on a part of the floating body 100 and may flow while being controlled by magnetic force to damp vibrations or shocks applied to the floating body 100 .
구체적으로, 댐핑(damping)은 탐촉자에서 댐퍼에 의해 불필요한 진동이 흡수되는 현상으로, 전기적 또는 기계적으로 연속하는 사이클 진폭을 감소시켜 펄스 압력을 받는 탐촉자로부터 신호의 지속을 제한하는 것으로, 본 발명은 이를 이용하여 MR Elastomer(210)는 부유체 본체(100)에 충격이 전달되어 운동량이 작용할 시에 자력을 이용하여 운동량흡수부재(200)를 경직시켜서 경화하여 일정 부분의 충격량을 감쇠시키는 댐핑 작용이 가능하다.Specifically, damping is a phenomenon in which unnecessary vibration is absorbed by the damper in the transducer, and by reducing the amplitude of successive cycles electrically or mechanically to limit the continuation of the signal from the transducer receiving the pulse pressure, the present invention By using the MR Elastomer 210, when the impact is transmitted to the floating body 100 and the momentum acts, the momentum absorbing member 200 is stiffened and hardened using magnetic force to damp the impact amount of a certain portion. Do.
본 발명의 MR Elastomer(MRE, Magneto-Rheological Elastomer)(210)는 자성유체와 탄성중합체가 혼합된 재료로 볼 수 있으며, 여기서, 자성유체(magnetic fluid)란, 오일 등의 용매에 자성입자가 분산되어 있는 일종의 서스펜션 액체로, 외부 자기장이 없으면 액체의 역할을 하고, 외부 자기장이 가해지면 자성입자가 일렬로 배열해서 고체의 성질을 가지는 물질이다. 점도의 관점에서 보면 자기장이 강해짐에 따라 점도가 증가하는 경향을 보이고, 항복강도의 관점에서 보면 외부 자기장이 없을 때에는 0에 불과하던 항복강도가 외부 자기장이 가해짐에 따라 항복강도가 발생한다.The MR Elastomer (MRE, Magneto-Rheological Elastomer) 210 of the present invention can be viewed as a material in which a magnetic fluid and an elastomer are mixed, where magnetic particles are dispersed in a solvent such as oil. It is a kind of suspension liquid, which acts as a liquid when there is no external magnetic field, and when an external magnetic field is applied, magnetic particles are arranged in a line and have the properties of a solid. From the point of view of viscosity, the viscosity tends to increase as the magnetic field becomes stronger, and from the point of view of yield strength, the yield strength, which was only 0 in the absence of an external magnetic field, occurs as an external magnetic field is applied.
탄성중합체(elastomer)는 외력(外力)을 가해서 잡아당기면 몇 배나 늘어나고, 외력을 제거하면 원래의 길이로 돌아가는 성질을 가지는 고분자 화합물이다. 대표적인 예로는 탄성고무라고 하는 가황고무가 있다. 이외에도 화학적 결합이 없는 탄성중합체인 탄성섬유(스판덱스)가 있다. 탄성중합체의 대표적인 것에 탄성고무라고 하는 가황고무가 있다. An elastomer is a high molecular compound having the property of being stretched several times when pulled by applying an external force, and returning to its original length when the external force is removed. A typical example is vulcanized rubber called elastic rubber. In addition, there are elastic fibers (spandex), which are elastomers without chemical bonds. A typical example of an elastomer is vulcanized rubber called elastic rubber.
이 경우 힘을 가하면 늘어나는 것은, 긴 선상 고분자 사이가 미끄러져서 전체적으로 길어지기 때문이다. 그러나 거기에는 다리(가황고무에서는 예를 들면 -S-S-라는 황이다)가 걸쳐져 있기 때문에, 가하던 힘을 멈추면 변형되었던 다리의 관계가 분자운동에 의해서 원래의 안정된 상태로 돌아오게 된다.In this case, when a force is applied, the elongation is because the long linear polymers are slid and the overall length is increased. However, since a bridge (in vulcanized rubber, for example, sulfur called -S-S-) is placed there, when the applied force is stopped, the deformed bridge relationship returns to its original stable state due to molecular motion.
MR Elastomer 구동기(220)는 MR Elastomer(210)에 연결되며, MR Elastomer(210)에 자력을 제공하는 전자석을 구비하여 MR Elastomer(210)의 작동을 제어할 수 있다.The MR elastomer driver 220 is connected to the MR elastomer 210 and includes an electromagnet that provides a magnetic force to the MR elastomer 210 to control the operation of the MR elastomer 210 .
구체적으로, MR Elastomer 구동기(220)의 전자석(electromagnet)은 전류가 흐르면 자기화되고, 전류를 끊으면 자기화되지 않은 원래의 상태로 되돌아가는 자석으로서, 전류의 공급과 상관없이 항상 자기를 유지하는 영구자석과 구분된다. 도선에 전류가 흐르면 도선 주위에 동심원 모양의 자기장이 형성된다. 이러한 원리를 이용하여 영구자석으로는 얻을 수 없는 매우 강력한 자기장을 얻을 수 있다. 전자석의 철심은 어느 정도 자기화가 진행되면 전류를 더 높여도 더 이상 자기화가 진행되지 않는다. 이를 자기포화 상태라고 한다. Specifically, the electromagnet of the MR Elastomer driver 220 is a magnet that is magnetized when current flows, and returns to an unmagnetized original state when the current is cut off. A permanent magnet that always maintains magnetism regardless of the supply of current distinguished from magnets. When an electric current flows in a conductor, a magnetic field in the form of concentric circles is formed around the conductor. Using this principle, a very strong magnetic field that cannot be obtained with a permanent magnet can be obtained. When the iron core of the electromagnet is magnetized to a certain extent, the magnetization does not proceed any more even if the current is increased further. This is called self-saturation.
전자석은 전류를 인위적으로 조정하여 비교적 쉽게 자기장의 세기를 바꿀 수 있다. 그래서 통신기의 계전기부터 1t(톤) 이상의 무거운 재료를 끌어올리는 전자기식 기중기까지 널리 이용된다. 즉, MR Elastomer 구동기(220)는 부유체 본체(100)에 가해지는 충격이나 진동 그리고 이로 인해 발생되는 소음의 방지를 효과적으로 하기 위하여 상기와 같은 충격이나 진동이 가해지는 곳에 대응하여 자력의 세기나 크기를 조절하면서 MR Elastomer(210)의 유동을 조절하여 보다 효율적이면서 효과적인 대응이 가능하다.Electromagnets can change the strength of the magnetic field relatively easily by artificially adjusting the current. Therefore, it is widely used from relays of communicators to electromagnetic cranes that lift heavy materials over 1 ton (ton). That is, the MR Elastomer actuator 220 corresponds to the place where the shock or vibration is applied in order to effectively prevent the shock or vibration applied to the floating body 100 and the noise generated thereby, the strength or magnitude of the magnetic force. By controlling the flow of the MR Elastomer (210) while controlling, it is possible to respond more efficiently and effectively.
운동량흡수부재(200)는 부유체 본체(100)에서 착탈이 가능하도록 제작되어 반복적인 사용으로 MR Elastomer(210)의 유동성이나 MR Elastomer 구동기(220)에 구비된 전자석의 자력이 떨어지거나 전자석에 전원을 제공하는 배터리 등의 교체 사용이 가능하고, 보다 다양한 형태로 배치하여 지속적이면서 효과적인 충격의 흡수가 가능하도록 할 수 있다. 또한, 상기와 같이 운동량흡수부재(200)를 부유체 본체(100)에 착탈식으로 제작되고, 운동량흡수부재(200)의 소재를 우레탄 등의 합성고무나 스프링 등이 내부에 포함된 상태로 구성하여 부유체 본체(100)에 결합시켜서 사용할 수도 있다.The momentum absorbing member 200 is manufactured to be detachable from the floating body 100, and due to repeated use, the fluidity of the MR Elastomer 210 or the magnetic force of the electromagnet provided in the MR Elastomer driver 220 decreases, or power to the electromagnet It is possible to replace and use batteries that provide In addition, as described above, the momentum absorbing member 200 is detachably manufactured on the floating body 100, and the material of the momentum absorbing member 200 is composed of a synthetic rubber such as urethane or a spring included therein. It may be used in combination with the floating body 100 .
전자석은 컨트롤러(미도시)의 제어에 의해 자성이 부여되거나 자극이 조정될 수 있다.The electromagnet may be magnetized or the magnetic pole may be adjusted under the control of a controller (not shown).
계류선(300)은 부유체 본체(100)의 일부분에 설치되어 부유체 본체(100)를 수상에서 계류하여 고정시킬 수 있다.The mooring line 300 may be installed on a part of the floating body 100 to moor the floating body 100 on the water to be fixed.
컨트롤러(미도시)는 무선통신모듈이 구비되어 외부의 모바일 단말기 등과 와이파이 통신모듈, 블루투스 통신모듈 및 지그비 통신모듈 중에서 어느 하나로 연동되어 외부에서도 작동을 제어하거나 제어 상황을 실시간으로 알아볼 수 있다.The controller (not shown) is equipped with a wireless communication module and is interlocked with an external mobile terminal and any one of a Wi-Fi communication module, a Bluetooth communication module, and a Zigbee communication module to control the operation from the outside or to check the control situation in real time.
본 발명의 일실시예에 따르면, 부유체 본체(100)의 일부분에 구비되는 운동량흡수부재(200)를 이용하여 부유체(10)에 가해지는 파도나 해류에 의한 충격량을 감쇠시킬 수 있다.According to an embodiment of the present invention, it is possible to attenuate the amount of impact caused by waves or currents applied to the floating body 10 by using the momentum absorbing member 200 provided in a part of the floating body 100 .
따라서, MRE를 이용한 운동량흡수부재(200)를 통해서 자력으로 운동량흡수재의 경화성을 제어하면서 댐핑 작용을 이용하여 부유체 본체(200)에 작용하는 운동량을 감쇠시킬 수 있다.Accordingly, it is possible to damp the momentum acting on the floating body 200 by using the damping action while controlling the curability of the momentum absorbing material by magnetic force through the momentum absorbing member 200 using the MRE.
상술한 바와 같이 개시된 본 발명의 바람직한 실시예들에 대한 상세한 설명은 당업자가 본 발명을 구현하고 실시할 수 있도록 제공되었다. 상기에서는 본 발명의 바람직한 실시 예들을 참조하여 설명하였지만, 해당 기술 분야의 숙련된 당업자는 본 발명의 영역으로부터 벗어나지 않는 범위 내에서 본 발명을 다양하게 수정 및 변경시킬 수 있음을 이해할 수 있을 것이다. 예를 들어, 당업자는 상술한 실시 예들에 기재된 각 구성을 서로 조합하는 방식으로 이용할 수 있다. 따라서, 본 발명은 여기에 나타난 실시형태들에 제한되려는 것이 아니라, 여기서 개시된 원리들 및 신규한 특징들과 일치하는 최광의 범위를 부여하려는 것이다.The detailed description of the preferred embodiments of the present invention disclosed as described above is provided to enable any person skilled in the art to make and practice the present invention. Although the above has been described with reference to preferred embodiments of the present invention, it will be understood by those skilled in the art that various modifications and changes can be made to the present invention without departing from the scope of the present invention. For example, a person skilled in the art may use each configuration described in the above-described embodiments in a way that is combined with each other. Accordingly, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
본 발명은 본 발명의 정신 및 필수적 특징을 벗어나지 않는 범위에서 다른 특정한 형태로 구체화될 수 있다. 따라서, 상기의 상세한 설명은 모든 면에서 제한적으로 해석되어서는 아니 되고 예시적인 것으로 고려되어야 한다. 본 발명의 범위는 첨부된 청구항의 합리적 해석에 의해 결정되어야 하고, 본 발명의 등가적 범위 내에서의 모든 변경은 본 발명의 범위에 포함된다. 본 발명은 여기에 나타난 실시형태들에 제한되려는 것이 아니라, 여기서 개시된 원리들 및 신규한 특징들과 일치하는 최광의 범위를 부여하려는 것이다. 또한, 특허청구범위에서 명시적인 인용 관계가 있지 않은 청구항들을 결합하여 실시 예를 구성하거나 출원 후의 보정에 의해 새로운 청구항으로 포함할 수 있다.The present invention may be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention. Accordingly, the above detailed description should not be construed as restrictive in all respects but as exemplary. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention. The present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. In addition, claims that are not explicitly cited in the claims may be combined to form an embodiment, or may be included as new claims by amendment after filing.
본 발명에 따르면, 부유체 본체의 일부분에 구비되는 운동량흡수부재를 이용하여 부유체에 가해지는 파도나 해류에 의한 충격량을 감쇠시키되, MRE를 이용한 운동량흡수부재를 통해서 자력으로 운동량흡수재의 경화성을 제어하면서 댐핑 작용을 이용하여 부유체 본체에 작용하는 운동량을 감쇠시킬 수 있다.According to the present invention, a momentum absorbing member provided in a part of the floating body is used to attenuate the amount of impact caused by waves or currents applied to the floating body, and the momentum absorbing member using MRE to control the sclerosis of the momentum absorbing material by magnetic force. While using the damping action, it is possible to damp the momentum acting on the floating body body.

Claims (4)

  1. 수상에 계류되어 수상시설물이 설치되거나 수상활동을 위한 공간을 제공하는 부유체로서,As a floating body moored on the water to install water facilities or provide space for water activities,
    부력을 이용하여 수상에서 부유하는 부유체 본체;Floating body body floating on water using buoyancy;
    상기 부유체 본체의 일부분에 구비되어 상기 부유체 본체에 작용하는 운동량을 자력을 이용하여 댐핑시키는 운동량흡수부재; 및a momentum absorbing member provided on a portion of the floating body to damp the momentum acting on the floating body by using magnetic force; and
    상기 부유체 본체의 일부분에 설치되어 상기 부유체 본체를 수상에서 계류하여 고정시키는 계류선;을 포함하는 것을 특징으로 하는 자력을 이용하여 운동량을 감쇠하는 부유체.and a mooring line installed on a part of the floating body to moor the floating body on the water and fix it.
  2. 청구항 1에 있어서,The method according to claim 1,
    상기 운동량흡수부재는,The momentum absorbing member,
    상기 부유체 본체의 일부분에 설치되어 자력에 의해 제어되면서 유동하여 상기 부유체 본체에 가해지는 진동이나 충격을 댐핑시키는 MR Elastomer; 및MR Elastomer installed on a part of the floating body and flowing while being controlled by magnetic force to damp vibration or impact applied to the floating body; and
    상기 MR Elastomer에 연결되며, 상기 MR Elastomer에 자력을 제공하는 전자석을 구비하여 상기 MR Elastomer의 작동을 제어하는 MR Elastomer 구동기;를 포함하는 것을 특징으로 하는 자력을 이용하여 운동량을 감쇠하는 부유체.and an MR Elastomer actuator connected to the MR Elastomer and having an electromagnet that provides a magnetic force to the MR Elastomer to control the operation of the MR Elastomer.
  3. 청구항 2에 있어서,3. The method according to claim 2,
    상기 운동량흡수부재는 상기 부유체 본체의 하단의 일부분에 설치되는 것을 특징으로 하는 자력을 이용하여 운동량을 감쇠하는 부유체.The momentum absorbing member is a floating body for damping the momentum using magnetic force, characterized in that installed on a portion of the lower end of the floating body body.
  4. 청구항 2에 있어서,3. The method according to claim 2,
    상기 전자석은 컨트롤러의 제어에 의해 자성이 부여되거나 자극이 조정되는 것을 특징으로 하는 자력을 이용하여 운동량을 감쇠하는 부유체.The electromagnet is a floating body that attenuates momentum using magnetic force, characterized in that the magnetization is given or the magnetic pole is adjusted under the control of the controller.
PCT/KR2021/011304 2020-08-28 2021-08-24 Floating body which attenuates momentum using magnetic force WO2022045740A1 (en)

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JP2007521436A (en) * 2003-06-23 2007-08-02 フォボックス エーエス Wave power station
US20100231069A1 (en) * 2009-03-11 2010-09-16 The Chinese University Of Hong Kong Magnetorheological actuators
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JP2007521436A (en) * 2003-06-23 2007-08-02 フォボックス エーエス Wave power station
US20100231069A1 (en) * 2009-03-11 2010-09-16 The Chinese University Of Hong Kong Magnetorheological actuators
KR20130057004A (en) * 2011-11-23 2013-05-31 현대자동차주식회사 Variable differential mount system applied magnetorheological elastomer
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